// Copyright  (C)  2007-2008  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Copyright  (C)  2008  Mikael Mayer
// Copyright  (C)  2008  Julia Jesse

// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl

// Modified by Juan A. Corrales (ISIR, UPMC) in order to include coupling

// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.

// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.

// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

#ifndef KDLChainIkSolverPos_NR_JL_COUPLING_HPP
#define KDLChainIkSolverPos_NR_JL_COUPLING_HPP

#include <kdl/chainiksolver.hpp>
#include <kdl/chainfksolver.hpp>
#include <kdl_coupling/chain_coupling.hpp>

namespace KDL
{
/*
* Implementation of a general inverse position kinematics
* algorithm based on Newton-Raphson iterations to calculate the
* position transformation from Cartesian to joint space of a general
* KDL::Chain. Takes joint limits into account.
*
* @ingroup KinematicFamily
*/
class ChainIkSolverPos_NR_JL_coupling :
        public ChainIkSolverPos
{
public:
  /*
   * Constructor of the solver, it needs the chain, a forward
   * position kinematics solver and an inverse velocity
   * kinematics solver for that chain.
   *
   * @param chain the chain to calculate the inverse position for
   * @param q_max the maximum joint positions
   * @param q_min the minimum joint positions
   * @param fksolver a forward position kinematics solver
   * @param iksolver an inverse velocity kinematics solver
   * @param maxiter the maximum Newton-Raphson iterations,
   * default: 100
   * @param eps the precision for the position, used to end the
   * iterations, default: epsilon (defined in kdl.hpp)
   *
   * @return
   */
  ChainIkSolverPos_NR_JL_coupling(const Chain_coupling &chain, const JntArray &q_min, const JntArray &q_max,
                                  ChainFkSolverPos &fksolver, ChainIkSolverVel &iksolver, unsigned int maxiter = 100,
                                  double eps = 1e-6);

  ~ChainIkSolverPos_NR_JL_coupling();

  virtual int CartToJnt(const JntArray &q_init, const Frame &p_in, JntArray &q_out);

  virtual void updateInternalDataStructures()
  {
    // Added to eliminate abstract class instantiation error
  };

private:
  const Chain_coupling chain;
  JntArray q_min;
  JntArray q_max;
  ChainFkSolverPos &fksolver;
  ChainIkSolverVel &iksolver;
  JntArray delta_q;
  Frame f;
  Twist delta_twist;

  unsigned int maxiter;
  double eps;
};
}  // namespace KDL

#endif
